166 |
|
void setupRotMat(Real w, Real x, Real y, Real z) { |
167 |
|
Quaternion<Real> q(w, x, y, z); |
168 |
|
*this = q.toRotationMatrix3(); |
169 |
+ |
} |
170 |
+ |
|
171 |
+ |
void setupSkewMat(Vector3<Real> v) { |
172 |
+ |
setupSkewMat(v[0], v[1], v[2]); |
173 |
+ |
} |
174 |
+ |
|
175 |
+ |
void setupSkewMat(Real v1, Real v2, Real v3) { |
176 |
+ |
this->data_[0][0] = 0; |
177 |
+ |
this->data_[0][1] = -v3; |
178 |
+ |
this->data_[0][2] = v2; |
179 |
+ |
this->data_[1][0] = v3; |
180 |
+ |
this->data_[1][1] = 0; |
181 |
+ |
this->data_[1][2] = -v1; |
182 |
+ |
this->data_[2][0] = -v2; |
183 |
+ |
this->data_[2][1] = v1; |
184 |
+ |
this->data_[2][2] = 0; |
185 |
+ |
|
186 |
+ |
|
187 |
|
} |
188 |
+ |
|
189 |
+ |
|
190 |
|
|
191 |
|
/** |
192 |
|
* Returns the quaternion from this rotation matrix |